CN108427099A - For the method for ultrasonic wave indoor positioning, equipment, system and mobile terminal - Google Patents
For the method for ultrasonic wave indoor positioning, equipment, system and mobile terminal Download PDFInfo
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- CN108427099A CN108427099A CN201710082089.4A CN201710082089A CN108427099A CN 108427099 A CN108427099 A CN 108427099A CN 201710082089 A CN201710082089 A CN 201710082089A CN 108427099 A CN108427099 A CN 108427099A
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- supersonic generator
- ultrasonic signal
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/26—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The application discloses a kind of method, equipment, system and mobile terminal for ultrasonic wave indoor positioning.This method includes：The ultrasonic signal and relevant information that supersonic generator is sent out are obtained, obtains the time difference of the receiving time of second ultrasonic signal, the third ultrasonic signal and the 4th ultrasonic signal and the receiving time of first ultrasonic signal respectively；The initial time obtained between second supersonic generator, the third supersonic generator and the 4th supersonic generator and first supersonic generator is poor；And by the time difference, initial time difference and the relevant information, obtain position coordinates.Method, equipment, system and the mobile terminal for ultrasonic wave indoor positioning of the application, can solve the major defect of existing location technology, significantly reduce positioning device cost and safeguard operation cost.
Description
Technical field
The present invention relates to indoor positioning technologies field, in particular to a kind of method for ultrasonic wave indoor positioning,
Equipment, system and mobile terminal
Background technology
With more Novel movable equipment such as mobile phone, tablet computer, wearable device etc., the performance of internet of things equipment flies
The surge of speed growth and the application based on location aware, location aware have played increasingly important role.It is indoors and outdoor
In the environment of, it can be that user brings better user experience continuously reliably to provide location information.
With the rapid development of computer software and hardware science and technology, a variety of indoor positioning technologies have also been emerged in large numbers both at home and abroad, at this
In the indoor positioning solution of a little different application scenes, respectively there is different advantages and various offices in various indoor positioning technologies
Limit.
WiFi is positioned：WiFi positioning is a kind of most widely used positioning method.A kind of method in WiFI positioning is to be based on
Receive the trilateration positioning (signal strength positioning mode) of signal strength, the advantages of this method be layout and maintenance cost compared with
It is low, but positioning accuracy is relatively low.Still an alternative is that the fingerprint location based on received signal strength, the technology in WiFI positioning
It is that the received signal strength that will be measured is compared with the signal strength characteristics of each reference point measured early period, chooses matching
Best reference point locations be used as measure target position, this method the disadvantage is that layout and safeguard cost it is higher, portable
Property is poor.
Low-power consumption bluetooth positions：The technology needs to be laid out Beacon networks, and each Beacon creates a signal area, should
The main limitation of method is to need to be laid out dedicated Beacon facilities, and coverage area is not wide, and many mobile subscribers without
Normally open bluetooth equipment
IMES is positioned：The technology needs indoors the transmitter of the arrangement same aspects of GPS in advance, directly transmits
The absolute location coordinates and floor information of transmitter, signal can be received by receiving the mobile device of function with GPS, realize room
Interior positioning, the maximum system limit of the technology are to need largely to install dedicated transmitter indoors, and operation cost high from now on.
UWB (wireless pulses super-broadband tech) is positioned：The technology needs to be laid out UWB transmitter network, according to wireless pulses
Ultra-wideband (IR-UWB) signal reaches the time, and by 3 point location mensuration distances, the precision of the location technology can reach 10cm,
It is very suitable for high speed positioning in real time, but largely lays UWB transmitter, and needs dedicated accepting device, all limits the skill
The application of art.
Therefore, it is necessary to a kind of new method, equipment, system and mobile terminals for ultrasonic wave indoor positioning.
Above- mentioned information is only used for reinforcing the understanding of the background to the present invention, therefore it disclosed in the background technology part
May include the information not constituted to the prior art known to persons of ordinary skill in the art.
Invention content
In view of this, the present invention provide it is a kind of for the method for ultrasonic wave indoor positioning, equipment, system and it is mobile eventually
End, can solve the major defect of existing location technology, and also significantly reduce positioning device cost and safeguard operation at
This.
Other characteristics and advantages of the present invention will be apparent from by the following detailed description, or partially by the present invention
Practice and acquistion.
According to an aspect of the invention, it is proposed that a kind of method for ultrasonic wave indoor positioning, this method include：It obtains super
The ultrasonic signal and relevant information that sonic generator is sent out, supersonic generator include：First supersonic generator, second
Supersonic generator, third supersonic generator and the 4th supersonic generator, ultrasonic signal include：First ultrasonic wave is believed
Number, the second ultrasonic signal, third ultrasonic signal and the 4th ultrasonic signal；The second ultrasonic signal, are obtained respectively
The time difference of the receiving time of three ultrasonic signals and the 4th ultrasonic signal and the receiving time of the first ultrasonic signal；It obtains
It takes between the second supersonic generator, third supersonic generator and the 4th supersonic generator and the first supersonic generator
Initial time is poor；And by time difference, initial time difference and relevant information, obtain position coordinates.
In a kind of exemplary embodiment of the disclosure, relevant information includes：First supersonic generator, the second ultrasonic wave
The location information of generator, third supersonic generator and the 4th supersonic generator.
In a kind of exemplary embodiment of the disclosure, receives object and pass through microphone received ultrasonic signal.
In a kind of exemplary embodiment of the disclosure, further include：It obtains the system time for receiving object and ultrasonic wave is sent out
The system time of the system time of raw device is poor.
In a kind of exemplary embodiment of the disclosure, by time difference, initial time difference and relevant information, position is obtained
Coordinate is set, including：By TDOA hyperbola location algorithms and time difference, initial time difference and relevant information, obtains position and sit
Mark.
In a kind of exemplary embodiment of the disclosure, TDOA hyperbola location algorithms include following formula：
Wherein, i=1,2,3, r0To receive the distance between object and the first supersonic generator, riFor target object with
The distance between i-th supersonic generator, Δ riFor receive object to the i-th supersonic generator with to the first supersonic generator
The distance between difference, (x, y, z) be receive object's position coordinate, (xi,yi,zi) it is the i-th supersonic generator position coordinates, Δ
t1iFor the time difference of the receiving time of the receiving time and the first ultrasonic signal of the i-th ultrasonic signal, Δ t2iFor the i-th ultrasound
The initial time of wave producer and the first supersonic generator is poor.
According to an aspect of the invention, it is proposed that a kind of method for ultrasonic wave indoor positioning, this method include：It obtains extremely
The corresponding essential information of few four supersonic generators；Essential information list is generated by essential information；At interval of the predetermined time
Update essential information list；And the essential information list after update is sent to reception object.
In a kind of exemplary embodiment of the disclosure, essential information includes：The coding information of supersonic generator, wave are wide
The start time information of information, pitch of waves information and supersonic generator transmitting ultrasonic signal.
In a kind of exemplary embodiment of the disclosure, essential information list includes：Initial time is poor, and initial time difference is
Time difference between the initial time of each supersonic generator transmitting ultrasonic signal.
In a kind of exemplary embodiment of the disclosure, the predetermined time is 8-15 minutes.
According to an aspect of the invention, it is proposed that a kind of equipment for ultrasonic wave indoor positioning, the equipment include：Signal connects
Module is received, for obtaining the ultrasonic signal and relevant information that supersonic generator is sent out, supersonic generator includes：First
Supersonic generator, the second supersonic generator, third supersonic generator and the 4th supersonic generator, ultrasonic signal
Including：First ultrasonic signal, the second ultrasonic signal, third ultrasonic signal and the 4th ultrasonic signal；Time differential mode
Block, for obtaining the receiving time of the second ultrasonic signal, third ultrasonic signal and the 4th ultrasonic signal and the respectively
The time difference of the receiving time of one ultrasonic signal；Initial time difference module is super for obtaining the second supersonic generator, third
Initial time between sonic generator and the 4th supersonic generator and the first supersonic generator is poor；And locating module,
For by time difference, initial time difference and relevant information, obtaining position coordinates.
In a kind of exemplary embodiment of the disclosure, further include：System time difference module receives object for obtaining
The system time of the system time of system time and supersonic generator is poor.
According to an aspect of the invention, it is proposed that a kind of equipment for ultrasonic wave indoor positioning, the equipment include：Receive mould
Block, for obtaining the corresponding essential information of at least four supersonic generators；List block generates base for passing through essential information
This information list；Update module, for updating essential information list at interval of the predetermined time；And sending module, being used for will more
Essential information list after new is sent to reception object.
According to an aspect of the invention, it is proposed that a kind of system for ultrasonic wave indoor positioning, the system include：Ultrasonic wave
Generator array, including multiple supersonic generators, supersonic generator is for emitting ultrasound information and relevant information；Extremely
A few controller, at least one controller are electrically connected supersonic generator array, and at least one controller is for realizing super
The time unification of sonic generator, and generate control information；Router, for supersonic generator array to be connect with controller
Form LAN and；Server receives at least one controller for storing the relevant information for coming from supersonic generator
Control information, and information is summarized, is used for location Calculation.
In a kind of exemplary embodiment of the disclosure, at least one controller includes：Built-in linux system
BeagleBoneBlack development kits.
According to an aspect of the invention, it is proposed that a kind of mobile terminal, the mobile terminal include：Processor；Memory, storage
Instruction for processor control such as operation above.
Method, equipment, system and mobile terminal according to the present invention for ultrasonic wave indoor positioning can solve
The major defect of existing location technology significantly reduces positioning device cost and safeguards operation cost.
It should be understood that above general description and following detailed description is merely exemplary, this can not be limited
Invention.
Description of the drawings
Its example embodiment is described in detail by referring to accompanying drawing, above and other target of the invention, feature and advantage will
It becomes more fully apparent.Drawings discussed below is only some embodiments of the present invention, for the ordinary skill of this field
For personnel, without creative efforts, other drawings may also be obtained based on these drawings.
Fig. 1 is a kind of flow chart of method for ultrasonic wave indoor positioning shown according to an exemplary embodiment.
Fig. 2 is a kind of flow chart of the method for ultrasonic wave indoor positioning shown according to another exemplary embodiment.
Fig. 3 is a kind of block diagram of equipment for ultrasonic wave indoor positioning shown according to an exemplary embodiment.
Fig. 4 is a kind of block diagram of the equipment for ultrasonic wave indoor positioning shown according to another exemplary embodiment.
Fig. 5 is a kind of block diagram of system for ultrasonic wave indoor positioning shown according to an exemplary embodiment.
Fig. 6 is a kind of block diagram of mobile terminal for ultrasonic wave indoor positioning shown according to an exemplary embodiment.
Specific embodiment
Example embodiment is described more fully with reference to the drawings.However, example embodiment can be real in a variety of forms
It applies, and is not understood as limited to embodiment set forth herein；On the contrary, thesing embodiments are provided so that the present invention will be comprehensively and complete
It is whole, and the design of example embodiment is comprehensively communicated to those skilled in the art.Identical reference numeral indicates in figure
Same or similar part, thus repetition thereof will be omitted.
In addition, described feature, structure or characteristic can be incorporated in one or more implementations in any suitable manner
In example.In the following description, many details are provided to fully understand the embodiment of the present invention to provide.However,
It will be appreciated by persons skilled in the art that technical scheme of the present invention can be put into practice without one or more in specific detail,
Or other methods, constituent element, device, step may be used etc..In other cases, it is not shown in detail or describes known side
Method, device, realization or operation are to avoid fuzzy each aspect of the present invention.
Block diagram shown in attached drawing is only functional entity, not necessarily must be corresponding with physically separate entity.
I.e., it is possible to realize these functional entitys using software form, or realized in one or more hardware modules or integrated circuit
These functional entitys, or these functional entitys are realized in heterogeneous networks and/or processor device and/or microcontroller device.
Flow chart shown in attached drawing is merely illustrative, it is not necessary to including all content and operation/step,
It is not required to execute by described sequence.For example, some operation/steps can also decompose, and some operation/steps can close
And or part merge, therefore the sequence actually executed is possible to be changed according to actual conditions.
It should be understood that although herein various assemblies may be described using term first, second, third, etc., these groups
Part is not answered limited by these terms.These terms are distinguishing a component and another component.Therefore, first group be discussed herein below
Part can be described as teaching of second component without departing from disclosure concept.As used herein, term " and/or " include associated
All combinations for listing any of project and one or more.
It will be understood by those skilled in the art that attached drawing is the schematic diagram of example embodiment, the module in attached drawing or flow
Necessary to not necessarily implementing the present invention, therefore it cannot be used for limiting the scope of the invention.
Fig. 1 is a kind of flow chart of method for ultrasonic wave indoor positioning shown according to an exemplary embodiment.
As shown in Figure 1, in S102, the ultrasonic signal and relevant information that supersonic generator is sent out, ultrasound are obtained
Wave producer includes：First supersonic generator, the second supersonic generator, third supersonic generator and the 4th ultrasonic wave
Generator, ultrasonic signal include：First ultrasonic signal, the second ultrasonic signal, third ultrasonic signal and four surpass
Acoustic signals.
As described above, common technology is that multiple supersonic generators are placed on ceiling in ultrasonic wave indoor positioning,
The peripherad free space of supersonic generator sends ultrasonic pulse, the object positioned according to certain time interval
Body receives the pulse signal that ultrasonic transmission device issues, and chooses three therein in these ultrasonic signals respectively
The signal that signal is used as follow-up localization process receives the relevant information of these three ultrasonic signals respectively, can be for example, coding
Information, the related contents such as shape information are filled since ultrasonic wave is slow in space transmission speed so being received by comparing three
Signal receives the time order and function of signal, can be finally inversed by the specific location of target object, can also be for example, when target object moves
It waits, can then depict the movement locus of target object by continual positioning measurement.But the ultrasonic wave of such mode
Location technology needs complicated supersonic generator that the ultrasonic signal sent is made to need the coding information for having certain, and
It is also possible to be related to intercourse the process of information between ultrasonic signal generator and target object.
In embodiments of the present invention, target object to be positioned, can receive a large amount of ultrasonic signal, and target object is from big
Four ultrasound signal receipts are chosen in the ultrasonic signal of amount, are used with making follow-up localization process.It can be for example, strong according to signal
Four ultrasonic signals of weak selection, can be for example, by smoothly selecting four ultrasonic signals to weak successively by strong, can also example
Such as, the stability of the ultrasonic signal received by Integrated comparative selects the ultrasonic wave letter of four high stabilities successively
Number.Choose ultrasonic signal mode can there are many, however do not invent and be not limited.
In S104, connecing for the second ultrasonic signal, third ultrasonic signal and the 4th ultrasonic signal is obtained respectively
Between time receiving with the time difference of the receiving time of the first ultrasonic signal.Object to be positioned obtains four different ultrasonic wave hairs
Four ultrasonic signals that raw device is sent out, can be for example, using the first ultrasonic signal that the first supersonic generator is sent out as base
Calibration signal calculates separately the second third, the receiving time and first for the ultrasonic signal that third ultrasonic signal generator is sent out
The time difference of the time for the ultrasound signal receipt that ultrasonic signal generator is sent out.The selection of reference signal can refer to four and surpass
The selection rule of acoustic signals, can be for example, according to by strong, to weak signal strength sequential selection reference signal, however the present invention be not
As limit.
In S106, the second supersonic generator, third supersonic generator and the 4th supersonic generator and the are obtained
Initial time between one supersonic generator is poor.Initial time difference can be for example, the coding information by ultrasonic signal calculates
It obtains, can also preserve above- mentioned information for example, being calculated by the location-server being managed collectively to ultrasonic signal, be positioned
Target object obtains the relevant information of initial time difference by location-server.Initial time difference is that each supersonic generator is sent out
Ultrasonic signal time time difference.
In S108, by time difference, initial time difference and relevant information, position coordinates are obtained.As described above, it waits for
The ultrasonic signal that the target object of positioning is sent out by receiving three supersonic generators, can theoretically calculate mobile phone terminal
Coordinate (x, y, z), but at the time of each different mobile phone terminal and can not accomplish at the time of ultrasonic wave generating source it is completely unified,
Therefore there will be prodigious uncertain error.In embodiments of the present invention, by 4 point locations, believed with one of ultrasonic wave
Number it is used as time origin, by obtaining the ultrasonic wave reaching time-difference of other three points, initial time difference and relevant information obtain
Obtain the position coordinates of target to be positioned.
Method according to the present invention for ultrasonic wave indoor positioning is sent out by obtaining four different supersonic generators
The relevant informations such as the initial time difference between the ultrasonic signal gone out and these signals, and then obtain the position of target to be positioned
The mode set so that supersonic generator can be with unidirectional emission ultrasound information, and supersonic generator need not be with receiving terminal frequency
Numerous carry out data exchange, therefore, to the quantity of receiving terminal there is no limit, can solve the major defect of existing location technology,
It significantly reduces positioning device cost and safeguards operation cost.
It will be clearly understood that the present disclosure describe how being formed and using particular example, but the principle of the present invention is not limited to
These exemplary any details.On the contrary, the introduction based on present disclosure, these principles can be applied to many other
Embodiment.
In a kind of exemplary embodiment of the disclosure, relevant information includes：First supersonic generator, the second ultrasonic wave
The location information of generator, third supersonic generator and the 4th supersonic generator.
In a kind of exemplary embodiment of the disclosure, receives object and pass through microphone received ultrasonic signal.Reception pair
As may be, for example, smart mobile phone, ultrasonic signal may be, for example, the ultrasonic signal of 20MHz.It is provided according to embodiments of the present invention
Method, need not be by any external equipment for all smart mobile phones, relying solely on the built-in microphone of mobile phone can
To receive the ultrasonic wave of 20MHz.
Method according to the present invention for ultrasonic wave indoor positioning is obtained by receiving the included microphone apparatus of object
Ultrasonic signal enables to ultrasonic wave positioning to provide positioning clothes towards the numerous ordinary populace of number as being positioned WiFi
Business.Simultaneously expand in the application scenarios positioned using ultrasonic wave so that ultrasonic wave positioning method can be applied to warehouse logistics,
Plant produced wire management, aircraft maintenance industry etc..
In a kind of exemplary embodiment of the disclosure, further include：It obtains the system time for receiving object and ultrasonic wave is sent out
The system time of the system time of raw device is poor.It is used as the reference time of positioning by system time difference, solves even if each hand
The generator terminal moment is different, will not therefore generate the unnecessary influence for calculating error.
In a kind of exemplary embodiment of the disclosure, by time difference, initial time difference and relevant information, position is obtained
Coordinate is set, including：By TDOA hyperbola location algorithms and time difference, initial time difference and relevant information, obtains position and sit
Mark.TDOA (Time Difference of Arrival) hyperbola location algorithm is a kind of side positioned using the time difference
Method is commonly used in base station communication field.The time of monitoring station is reached by measuring signal, it may be determined that the distance of signal source.It utilizes
Signal source just can determine that the position of signal to the distance (centered on monitoring station, distance is that radius work is justified) of each monitoring station.But
It is the generally more difficult measurement of absolute time, TDOA hyperbola location algorithms reach the time of each monitoring station by comparing signal
Difference can make using monitoring station as focus, and range difference is the hyperbola of long axis, and hyp intersection point is exactly the position of signal.
In a kind of exemplary embodiment of the disclosure, TDOA hyperbola location algorithms include following formula：
Wherein, i=1,2,3, r0To receive the distance between object and the first supersonic generator, riFor target object with
The distance between i-th supersonic generator, Δ riFor receive object to the i-th supersonic generator with to the first supersonic generator
The distance between difference, (x, y, z) be receive object's position coordinate, (xi,yi,zi) it is the i-th supersonic generator position coordinates, Δ
t1iFor the time difference of the receiving time of the receiving time and the first ultrasonic signal of the i-th ultrasonic signal, Δ t2iFor the i-th ultrasound
The initial time of wave producer and the first supersonic generator is poor.
Method according to the present invention for ultrasonic wave indoor positioning carries out mesh by TDOA algorithm combination ultrasonic signals
The mode for demarcating position, can save the manufacture maintenance cost of supersonic generator, expand the application range of ultrasonic wave positioning.
The equation group of TDOA hyperbola location algorithms is the Nonlinear System of Equations for target location (x, y, z) coordinate, mesh
Preceding there are many methods can be used for solving equation group, can be for example, CHAN algorithms, Taylor series expansion method, SX (Spherical
Intersection) spherical surface intersects method, DAC (Divide and Conquer) classification solution methods；SI(Spherical
Interpolation) spherical surface interpolation method etc..Invention is not limited thereto.It, can be for example, by using CHAN in example of the embodiment of the present invention
Algorithm carries out above-mentioned equation group calculating, and CHAN algorithms are a kind of based on TDOA technologies, the location algorithm with analytical expression solution,
It is functional when TDOA errors obey ideal Gaussian distribution.Has following advantage：Algorithm does not need initial value；Only changed twice
In generation, can acquire final result；The positioning accuracy of algorithm can reach a carat Metro lower limit under view distance environment.
Method according to the present invention for ultrasonic wave indoor positioning carries out asking for Hyperbolic Equation by CHAN algorithms
Solution, can reduce the calculation amount of equation group, can be suitble to the operational capability of smart mobile phone, save mobile phone power consumption amount.
Above-mentioned all location algorithms are completed in mobile terminal, due to the difference of all kinds of mobile phone hardwares configuration, are considered
To the configuration requirement for meeting most of mobile phones, while also to meet the needs that reflection position is moved in real time in time, phase subdivision side
Face can do corresponding adjustment so that Positioning Precision Control, from now on the continuous improvement of smart mobile phone performance, is led at 30 centimetres
Positioning accuracy can be improved by crossing adjustment phase subdivision degree.Phase subdivision related content is the prior art of location technology, herein
Details are not described herein.
Fig. 2 is a kind of flow chart of the method for ultrasonic wave indoor positioning shown according to another exemplary embodiment.
As described in Figure 2, in S202, the corresponding essential information of at least four supersonic generators is obtained.Essential information can
Such as including：The wide information of the coding information of supersonic generator, wave, pitch of waves information and supersonic generator transmitting ultrasonic wave letter
Number start time information.
In S204, essential information list is generated by essential information.Essential information list can e.g., including：When initial
Between it is poor, initial time difference be each supersonic generator emit ultrasonic signal initial time between time difference.
In S206, essential information list is updated at interval of the predetermined time.Predetermined time can be for example, be 8-15 minutes.
It is sent to reception object in S208, and by the essential information list after update.It will be basic after update
Information list can be for example, be sent to target object to be positioned.
Method according to the present invention for ultrasonic wave indoor positioning obtains the basic of supersonic generator by server
Information, and it is aggregated into the mode that essential information list is sent to target to be positioned, each ultrasonic wave can be solved with low cost and sent out
The problem of raw device timing synchronization.
According to some embodiments, the predetermined time can be for example, be 8-15 minutes.Due to ultrasonic wave phase pushing away with the time
It moves, also will produce cumulative errors, cumulative errors do not exceed 100 microseconds in ordinary circumstance 20 minutes, in embodiments of the present invention,
The initial time of each ultrasonic wave can be retransmitted for example, with 10 minutes for time interval, it is ensured that the essence of ultrasonic wave positioning
Degree can reach 3 centimetres in theory.
It will be appreciated by those skilled in the art that realizing that all or part of step of above-described embodiment is implemented as being executed by CPU
Computer program.When the computer program is executed by CPU, above-mentioned work(defined by the above method provided by the invention is executed
Energy.The program can be stored in a kind of computer readable storage medium, which can be read-only memory, magnetic
Disk or CD etc..
Further, it should be noted that above-mentioned attached drawing is only the place included by method according to an exemplary embodiment of the present invention
Reason schematically illustrates, rather than limits purpose.It can be readily appreciated that above-mentioned processing shown in the drawings is not indicated or is limited at these
The time sequencing of reason.In addition, being also easy to understand, these processing for example can be executed either synchronously or asynchronously in multiple modules.
Following is apparatus of the present invention embodiment, can be used for executing the method for the present invention embodiment.For apparatus of the present invention reality
Undisclosed details in example is applied, the method for the present invention embodiment is please referred to.
Fig. 3 is a kind of block diagram of equipment for ultrasonic wave indoor positioning shown according to an exemplary embodiment.
Wherein, signal receiving module 302 is used to obtain the ultrasonic signal and relevant information that supersonic generator is sent out,
Supersonic generator includes：First supersonic generator, the second supersonic generator, third supersonic generator and four surpass
Sonic generator, ultrasonic signal include：First ultrasonic signal, the second ultrasonic signal, third ultrasonic signal and
Four ultrasonic signals.
Time difference module 304 for obtaining the second ultrasonic signal, third ultrasonic signal and the 4th ultrasonic wave respectively
The time difference of the receiving time of signal and the receiving time of the first ultrasonic signal.
Initial time difference module 306 is for obtaining the second supersonic generator, third supersonic generator and the 4th ultrasound
Initial time between wave producer and the first supersonic generator is poor.
Locating module 308 is used to, by time difference, initial time difference and relevant information, obtain position coordinates.
Equipment according to the present invention for ultrasonic wave indoor positioning is sent out by obtaining four different supersonic generators
The relevant informations such as the initial time difference between the ultrasonic signal gone out and these signals, and then obtain the position of target to be positioned
The mode set can solve the major defect of existing location technology, significantly reduce positioning device cost and safeguard operation at
This.
In a kind of exemplary embodiment of the disclosure, further include：System time difference module receives object for obtaining
The system time of the system time of system time and supersonic generator is poor.
Fig. 4 is a kind of block diagram of the equipment for ultrasonic wave indoor positioning shown according to another exemplary embodiment.
Receiving module 402 is for obtaining the corresponding essential information of at least four supersonic generators.
List block 404 is used to generate essential information list by essential information.
Update module 406 is used to update essential information list at interval of the predetermined time.
Sending module 408 is used to the essential information list after update being sent to reception object.
Equipment according to the present invention for ultrasonic wave indoor positioning obtains the basic of supersonic generator by server
Information, and it is aggregated into the mode that essential information list is sent to target to be positioned, can solve each ultrasonic wave with low cost
The problem of generator timing synchronization.
Fig. 5 is a kind of block diagram of system for ultrasonic wave indoor positioning shown according to an exemplary embodiment.
Wherein, supersonic generator array 502, including multiple supersonic generators 504, supersonic generator is for emitting
Ultrasound information and relevant information.
Controller 506, controller 506 are electrically connected supersonic generator array 502, and controller 506 is for realizing ultrasound
The time unification of wave producer 504, and generate control information.
Router 508 is used to for supersonic generator array 502 to connect composition LAN with controller 506.
Server 510 receives at least one controller for storing the relevant information for coming from supersonic generator 504
506 control information, and information is summarized, it is used for location Calculation.
In a kind of exemplary embodiment of the disclosure, reach 30cm indoor positioning effects with ultrasonic wave to realize, it can
For example, by using following technical solution：Multigroup controller and supersonic generator (1 a plurality of supersonic generator of controller management
Coding and time information), composition local area network is connected by router, each local area network by RS485 bus communications,
Location-server and application server is separately configured in integrated communication network.5-15 meters of supersonic generator interval is arranged in smallpox
On plate, heights of ceilings can correspond to 30-40 meters, and common regulator circuit, microcontroller, arteries and veins are used inside supersonic generator
Radiating circuit, address encoding circuit, power amplification circuit and ultrasonic wave transmitting circuit are rushed, it is high according to the laying of supersonic generator
Degree and application scenarios can adjust the power at the laying interval and ultrasonic wave transmission power of supersonic generator.Controller can
To manage a plurality of supersonic generators, the major function of controller be the coding information for recording each supersonic generator, when
Carve that information, wave be wide and the pitch of waves, function of unity at the time of to realize supersonic generator.
In a kind of exemplary embodiment of the disclosure, at least one controller includes：Built-in linux system
BeagleBoneBlack development kits.BBB (BeagleBoneBlack) is the development kit based on AM3359 processors, processing
Device is integrated with the ARM Cortex of up to 1GHzTM- A8 kernels, and abundant Peripheral Interface is provided, built-in linux system.
System according to the present invention for ultrasonic wave indoor positioning, supersonic generator is using most common in systems
Ultrasonic wave transmitting circuit design, power consumption only has 0.01w, therefore cost is very cheap；Most crucial controller uses built-in Linux
The BeagleBoneBlack of system, cost are also very cheap；The network of supersonic generator, which is constituted, uses common Ethernet
Interface, can cheap, low in energy consumption, performance stabilization the ultrasonic wave transmitting network of construction cost using router.
Fig. 6 is a kind of block diagram of mobile terminal for ultrasonic wave indoor positioning shown according to an exemplary embodiment.
As shown in fig. 6, terminal device 60 may include processor 610, memory 620, transmitter 630 and receiver 640.
Memory 620 can store the instruction that operation processing is controlled for processor 610.Memory 620 may include volatibility
Or nonvolatile memory, as static RAM (SRAM), electrically erasable programmable read-only memory (EEPROM),
Erasable Programmable Read Only Memory EPROM (EPROM), programmable read only memory (PROM), read-only memory (ROM) etc., the present invention
It is not limited in this respect.
Processor 610 can call the instruction stored in memory 620 to control relevant operation.According to an embodiment, memory
620 storages control the instruction operated below for processor 610：Obtain the ultrasonic signal and phase that supersonic generator is sent out
Close information；Second ultrasonic signal, the third ultrasonic signal and the 4th ultrasonic signal are obtained respectively
The time difference of receiving time and the receiving time of first ultrasonic signal；Obtain second supersonic generator, described
Initial time between third supersonic generator and the 4th supersonic generator and first supersonic generator is poor；
And by the time difference, initial time difference and the relevant information, obtain position coordinates.It can be readily appreciated that storage
Device 620 can also store the instruction that other operations according to the ... of the embodiment of the present invention are controlled for processor 610, and which is not described herein again.
It will be appreciated by those skilled in the art that above-mentioned each module can be distributed according to the description of embodiment in device, also may be used
Uniquely it is different from one or more devices of the present embodiment with carrying out respective change.The module of above-described embodiment can be merged into
One module, can also be further split into multiple submodule.
By the description of above embodiment, those skilled in the art is it can be readily appreciated that example embodiment described herein
It can also be realized in such a way that software is in conjunction with necessary hardware by software realization.Therefore, implemented according to the present invention
The technical solution of example can be expressed in the form of software products, which can be stored in a non-volatile memories
In medium (can be CD-ROM, USB flash disk, mobile hard disk etc.) or on network, including some instructions are so that a computing device (can
To be personal computer, server, mobile terminal or network equipment etc.) it executes according to the method for the embodiment of the present invention.
By above detailed description, those skilled in the art is it can be readily appreciated that according to the ... of the embodiment of the present invention for surpassing
Method, equipment, system and the mobile terminal of sound wave indoor positioning have one or more of the following advantages.
According to some embodiments, the method for ultrasonic wave indoor positioning of the invention is different super by obtaining four
The relevant informations such as the initial time difference between ultrasonic signal time difference that sonic generator is sent out and these signals, in turn
Obtain the mode of the position of target to be positioned so that supersonic generator can be occurred with unidirectional emission ultrasound information, ultrasonic wave
Device need not frequently carry out data exchange with receiving terminal, and therefore, to the quantity of receiving terminal, there is no limit it is existing fixed to solve
The major defect of position technology, and significantly reduce positioning device cost and safeguard operation cost.
According to other embodiments, the method for ultrasonic wave indoor positioning of the invention, included by reception object
Microphone apparatus obtains ultrasonic signal, enable to ultrasonic wave positioning as WiFi positioning it is the same towards number it is numerous it is common greatly
Crowd provides positioning service.It expands in the application scenarios positioned using ultrasonic wave simultaneously so that ultrasonic wave positioning method can answer
Use warehouse logistics, plant produced wire management, aircraft maintenance industry etc..
According to other embodiments, the method for ultrasonic wave indoor positioning of the invention is combined super by TDOA algorithms
Acoustic signals carry out the mode of target positioning, can save the manufacture maintenance cost of supersonic generator, and it is fixed to expand ultrasonic wave
The application range of position.
According to other embodiments, the method for ultrasonic wave indoor positioning of the invention obtains ultrasound by controller
The essential information of wave producer, and life is aggregated into the mode that essential information list is sent to target to be positioned, it can be with low cost
Solves the problems, such as each supersonic generator timing synchronization.
It is particularly shown and described exemplary embodiment of the present invention above.It should be appreciated that the present invention is not limited to
Detailed construction, set-up mode or implementation method described herein；On the contrary, it is intended to cover included in appended claims
Various modifications in spirit and scope and equivalence setting.
In addition, structure, ratio, size etc. shown by this specification Figure of description, only coordinating specification institute
Disclosure, for skilled in the art realises that with reading, being not limited to the enforceable qualifications of the disclosure, therefore
Do not have technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are not influencing the disclosure
Under the technique effect that can be generated and achieved purpose, it should all still fall the technology contents disclosed in the disclosure and obtain and can cover
In the range of.Meanwhile cited such as "upper" in this specification, " first ", " second " and " one " term, be also only and be convenient for
Narration is illustrated, rather than to limit the enforceable range of the disclosure, relativeness is altered or modified, without substantive change
Under technology contents, when being also considered as the enforceable scope of the present invention.
Claims (16)
1. a kind of method for ultrasonic wave indoor positioning, which is characterized in that including：
It obtains the ultrasonic signal that sends out of supersonic generator and relevant information, the supersonic generator includes：The first surpass
Sonic generator, the second supersonic generator, third supersonic generator and the 4th supersonic generator, the ultrasonic wave letter
Number include：First ultrasonic signal, the second ultrasonic signal, third ultrasonic signal and the 4th ultrasonic signal；
The reception of second ultrasonic signal, the third ultrasonic signal and the 4th ultrasonic signal is obtained respectively
The time difference of time and the receiving time of first ultrasonic signal；
Obtain second supersonic generator, the third supersonic generator and the 4th supersonic generator with it is described
Initial time between first supersonic generator is poor；And
By the time difference, initial time difference and the relevant information, position coordinates are obtained.
2. the method as described in claim 1, which is characterized in that the relevant information includes：
First supersonic generator, second supersonic generator, the third supersonic generator and described
The location information of four supersonic generators.
3. the method as described in claim 1, which is characterized in that receive object and receive the ultrasonic signal by microphone.
4. method as claimed in claim 2, which is characterized in that further include：
The system time for obtaining the system time and the system time of the supersonic generator that receive object is poor.
5. method as claimed in claim 4, which is characterized in that it is described by the time difference, the initial time difference and
The relevant information obtains position coordinates, including：
By the TDOA hyperbola location algorithms and time difference, the initial time difference and relevant information, position is obtained
Set coordinate.
6. method as claimed in claim 5, which is characterized in that the TDOA hyperbola location algorithms include following formula：
Wherein, i=1,2,3, r0To receive the distance between object and first supersonic generator, riFor target object with
The distance between i-th supersonic generator, Δ riIt is sent out to the i-th supersonic generator with to first ultrasonic wave to receive object
The distance between raw device difference, (x, y, z) are to receive object's position coordinate, (xi,yi,zi) it is that the i-th supersonic generator position is sat
Mark, Δ t1iFor the time difference of the receiving time of the receiving time and first ultrasonic signal of the i-th ultrasonic signal, Δ t2i
Initial time for the i-th supersonic generator and first supersonic generator is poor.
7. a kind of method for ultrasonic wave indoor positioning, which is characterized in that including：
Obtain the corresponding essential information of at least four supersonic generators；
Essential information list is generated by essential information；
The essential information list is updated at interval of the predetermined time；And
Essential information list after update is sent to reception object.
8. the method for claim 7, which is characterized in that the essential information includes：
The wide information of the coding information of supersonic generator, wave, pitch of waves information and supersonic generator emit ultrasonic signal
Start time information.
9. method as claimed in claim 8, which is characterized in that the essential information list includes：
Initial time is poor, and the initial time difference emits for each supersonic generator between the initial time of ultrasonic signal
Time difference.
10. the method for claim 7, which is characterized in that the predetermined time is 8-15 minutes.
11. a kind of equipment for ultrasonic wave indoor positioning, which is characterized in that including：
Signal receiving module, for obtaining the ultrasonic signal and relevant information that supersonic generator is sent out, the ultrasonic wave
Generator includes：First supersonic generator, the second supersonic generator, third supersonic generator and the 4th ultrasonic wave hair
Raw device, the ultrasonic signal include：First ultrasonic signal, the second ultrasonic signal, third ultrasonic signal and the 4th
Ultrasonic signal；
Time difference module, for obtaining second ultrasonic signal, the third ultrasonic signal and the described 4th respectively
The time difference of the receiving time of ultrasonic signal and the receiving time of first ultrasonic signal；
Initial time difference module, for obtaining second supersonic generator, the third supersonic generator and described the
Initial time between four supersonic generators and first supersonic generator is poor；And
Locating module, for by the time difference, initial time difference and the relevant information, obtaining position coordinates.
12. equipment as claimed in claim 11, which is characterized in that further include：
System time difference module receives system time and the system time of the supersonic generator of object and is for obtaining
It unites the time difference.
13. a kind of equipment for ultrasonic wave indoor positioning, which is characterized in that including：
Receiving module, for obtaining the corresponding essential information of at least four supersonic generators；
List block, for generating essential information list by essential information；
Update module, for updating the essential information list at interval of the predetermined time；And
Sending module, for the essential information list after update to be sent to reception object.
14. a kind of system for ultrasonic wave indoor positioning, which is characterized in that including：
Supersonic generator array, including multiple supersonic generators, the supersonic generator is for emitting ultrasound information
And relevant information；
At least one controller, at least one controller electric connection supersonic generator array, described at least one
A controller and generates control information for realizing the time unification of supersonic generator；
Router, for the supersonic generator array to be connect to composition LAN with the controller；And
Server receives at least one controller for storing the relevant information for coming from the supersonic generator
Information is controlled, and described information is summarized, is used for location Calculation.
15. system as claimed in claim 14, which is characterized in that at least one controller includes：
The BeagleBoneBlack development kits of built-in linux system.
16. a kind of mobile terminal, including：
Processor；
Memory, storage control the instruction of operation as claimed in any one of claims 1 to 6 for the processor.
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